IMO, it is a waste of the BS2 to use it as a controller for your stepper motor. Kitsrus.comsells kit 158 that you can build which works well, as well as others under $50.00.
As eod_punk mentioned, download the documentation and BS2 sample programs from the Parallax webstore page. You'll need some kind of driver transistor depending on the amount of current and the voltage involved. The documentation shows a Darlington array (ULN2803), but discrete transistors can also work. Have a look at the download of the StampWorks manual (search Parallax's website for the link). There's a chapter in that about other ways to run a stepper (I think).
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